fix failed windows ci of PR1781 by removing unnecessary RCLCPP_COMPONENTS_PUBLIC

[gezp]

Signed-off-by: zhenpeng ge zhenpeng.ge@qq.com

PR #1781 make windows ci failed.
Acooding to suggestion from @SteveMacenski , try to fix it by instantiating template class ComponentManagerIsolated.

[aprotyas]

@gezp I would suggest updating the PR title to better (or also) reflect the proposed change.

Running CI:
Repos file: https://gist.githubusercontent.com/aprotyas/6fbc67583abc036ca479a88dee62ea8e/raw/f3c5a935a05dd7310653a0def8469246fedc1940/ros2.repos
Build args: --packages-above-and-dependencies rclcpp_components
Test args: --packages-above rclcpp_components
Job: https://ci.ros2.org/job/ci_launcher/9478/

• Linux
• Linux-aarch64
• macOS
• Windows

[SteveMacenski]

I'm not surprised it didn't fix it, the lines

template class ComponentManagerIsolated<rclcpp::executors::SingleThreadedExecutor>;
template class ComponentManagerIsolated<rclcpp::executors::MultiThreadedExecutor>;

are only useful when the template implementations are in a separate cpp file. Since you had it all in the header definitions, these lines are not necessary.

03:33:16 component_container_isolated.obj : error LNK2001: unresolved external symbol "protected: virtual void __cdecl rclcpp_components::ComponentManagerIsolated<class rclcpp::executors::MultiThreadedExecutor>::add_node_to_executor(unsigned __int64)" (?add_node_to_executor@?$ComponentManagerIsolated@VMultiThreadedExecutor@executors@rclcpp@@@rclcpp_components@@MEAAX_K@Z) [C:\ci\ws\build\rclcpp_components\component_container_isolated.vcxproj]

03:33:16 component_container_isolated.obj : error LNK2001: unresolved external symbol "protected: virtual void __cdecl rclcpp_components::ComponentManagerIsolated<class rclcpp::executors::SingleThreadedExecutor>::add_node_to_executor(unsigned __int64)" (?add_node_to_executor@?$ComponentManagerIsolated@VSingleThreadedExecutor@executors@rclcpp@@@rclcpp_components@@MEAAX_K@Z) [C:\ci\ws\build\rclcpp_components\component_container_isolated.vcxproj]

03:33:16 component_container_isolated.obj : error LNK2001: unresolved external symbol "protected: virtual void __cdecl rclcpp_components::ComponentManagerIsolated<class rclcpp::executors::MultiThreadedExecutor>::remove_node_from_executor(unsigned __int64)" (?remove_node_from_executor@?$ComponentManagerIsolated@VMultiThreadedExecutor@executors@rclcpp@@@rclcpp_components@@MEAAX_K@Z) [C:\ci\ws\build\rclcpp_components\component_container_isolated.vcxproj]

03:33:16 component_container_isolated.obj : error LNK2001: unresolved external symbol "protected: virtual void __cdecl rclcpp_components::ComponentManagerIsolated<class rclcpp::executors::SingleThreadedExecutor>::remove_node_from_executor(unsigned __int64)" (?remove_node_from_executor@?$ComponentManagerIsolated@VSingleThreadedExecutor@executors@rclcpp@@@rclcpp_components@@MEAAX_K@Z) [C:\ci\ws\build\rclcpp_components\component_container_isolated.vcxproj]

03:33:16 C:\ci\ws\build\rclcpp_components\Release\component_container_isolated.exe : fatal error LNK1120: 4 unresolved externals [C:\ci\ws\build\rclcpp_components\component_container_isolated.vcxproj]

03:33:16 test_component_manager_api.obj : error LNK2001: unresolved external symbol "protected: virtual void __cdecl rclcpp_components::ComponentManagerIsolated<class rclcpp::executors::MultiThreadedExecutor>::add_node_to_executor(unsigned __int64)" (?add_node_to_executor@?$ComponentManagerIsolated@VMultiThreadedExecutor@executors@rclcpp@@@rclcpp_components@@MEAAX_K@Z) [C:\ci\ws\build\rclcpp_components\test_component_manager_api.vcxproj]

03:33:16 test_component_manager_api.obj : error LNK2001: unresolved external symbol "protected: virtual void __cdecl rclcpp_components::ComponentManagerIsolated<class rclcpp::executors::SingleThreadedExecutor>::add_node_to_executor(unsigned __int64)" (?add_node_to_executor@?$ComponentManagerIsolated@VSingleThreadedExecutor@executors@rclcpp@@@rclcpp_components@@MEAAX_K@Z) [C:\ci\ws\build\rclcpp_components\test_component_manager_api.vcxproj]

03:33:16 test_component_manager_api.obj : error LNK2001: unresolved external symbol "protected: virtual void __cdecl rclcpp_components::ComponentManagerIsolated<class rclcpp::executors::MultiThreadedExecutor>::remove_node_from_executor(unsigned __int64)" (?remove_node_from_executor@?$ComponentManagerIsolated@VMultiThreadedExecutor@executors@rclcpp@@@rclcpp_components@@MEAAX_K@Z) [C:\ci\ws\build\rclcpp_components\test_component_manager_api.vcxproj]

03:33:16 test_component_manager_api.obj : error LNK2001: unresolved external symbol "protected: virtual void __cdecl rclcpp_components::ComponentManagerIsolated<class rclcpp::executors::SingleThreadedExecutor>::remove_node_from_executor(unsigned __int64)" (?remove_node_from_executor@?$ComponentManagerIsolated@VSingleThreadedExecutor@executors@rclcpp@@@rclcpp_components@@MEAAX_K@Z) [C:\ci\ws\build\rclcpp_components\test_component_manager_api.vcxproj]

03:33:16 C:\ci\ws\build\rclcpp_components\Release\test_component_manager_api.exe : fatal error LNK1120: 4 unresolved externals [C:\ci\ws\build\rclcpp_components\test_component_manager_api.vcxproj]

Same bit. I honestly don't know. I don't work with Windows. It's hard to offer suggestions when I can't play around and reproduce it.

Edit: my suggestion would be to try to add those 2 lines before main() in the cpp file, that's what's not picking it up (and the test, see the second blob). If that works, the test executable would still fail, what I think you should actually do is add to your cmakelist the hpp file. It's not linking so it might be as simple as needing to explicitly add the file for compilation linking.

[gezp]

i updated this PR (RCLCPP_COMPONENTS_PUBLIC in ComponentManagerIsolated was removed), and tested on my local win10 environment, it could be built on my local win10 successfully.

ComponentManagerIsolated is template class ( just in header file component_manager_isolated.hpp), which isn't add to library, so it needn't RCLCPP_COMPONENTS_PUBLIC.

could you help me retrigger CI? @aprotyas

[aprotyas]

Re-running CI:
Repos file: https://gist.githubusercontent.com/aprotyas/6fbc67583abc036ca479a88dee62ea8e/raw/f3c5a935a05dd7310653a0def8469246fedc1940/ros2.repos
Build args: --packages-above-and-dependencies rclcpp_components
Test args: --packages-above rclcpp_components
Job: https://ci.ros2.org/job/ci_launcher/9479/

• Linux
• Linux-aarch64
• macOS
• Windows

[clalancette]

Looks good to me with green CI.